cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
include($ENV{ROS_ROOT}/core/rosbuild/FindPkgConfig.cmake)

# Set the build type.  Options are:
#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
#  Debug          : w/ debug symbols, w/o optimization
#  Release        : w/o debug symbols, w/ optimization
#  RelWithDebInfo : w/ debug symbols, w/ optimization
#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo)

rosbuild_init()

#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

#uncomment if you have defined messages
rosbuild_genmsg()
#uncomment if you have defined services
#rosbuild_gensrv()

#common commands for building c++ executables and libraries
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
#target_link_libraries(${PROJECT_NAME} another_library)
#rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME} thread)
#rosbuild_add_executable(example examples/example.cpp)
#target_link_libraries(example ${PROJECT_NAME})

rosbuild_add_library(algorithmImage src/algorithmImage.cpp)
rosbuild_add_library(camera src/camera.cpp)
rosbuild_add_library(setRobot src/setRobot.cpp)
rosbuild_add_library(robot src/robot.cpp)

pkg_check_modules(GSL REQUIRED gsl)
include_directories(${GSL_INCLUDE_DIRS} )
link_directories(${GSL_LIBRARY_DIRS})

pkg_check_modules(OPENCV REQUIRED opencv)
include_directories(${OPENCV_INCLUDE_DIRS} )
link_directories(${OPENCV_LIBRARY_DIRS})

pkg_check_modules(FLYCAP REQUIRED flycapture)
include_directories(${FLYCAP_INCLUDE_DIRS} )
link_directories(${FLYCAP_LIBRARY_DIRS})

target_link_libraries(algorithmImage ${OPENCV_LIBRARIES})

target_link_libraries(setRobot ${GSL_LIBRARIES})
target_link_libraries(setRobot ${OPENCV_LIBRARIES})

target_link_libraries(camera ${FLYCAP_LIBRARIES})
rosbuild_link_boost(camera thread)

rosbuild_add_executable(visualization src/main.cpp)
target_link_libraries(visualization algorithmImage)
target_link_libraries(visualization camera)
target_link_libraries(visualization robot)
target_link_libraries(visualization setRobot)
